//
// Copyright (c) 2018, University of Edinburgh
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#include "exotica_core/motion_solver.h"
#include <exotica_core/server.h>
#include <exotica_core/task_map.h>

#include "exotica_core/motion_solver_initializer.h"

namespace exotica
{
void MotionSolver::InstantiateBase(const Initializer& init)
{
    Object::InstantiateObject(init);
    SetNumberOfMaxIterations(MotionSolverInitializer(init).MaxIterations);
}

MotionSolver::MotionSolver()
{
}

void MotionSolver::SpecifyProblem(PlanningProblemPtr pointer)
{
    problem_ = pointer;
}

std::string MotionSolver::Print(const std::string& prepend) const
{
    std::string ret = Object::Print(prepend);
    ret += "\n" + prepend + "  Problem:";
    if (problem_) ret += "\n" + problem_->Print(prepend + "    ");
    return ret;
}
}  // namespace exotica
